JPH044529B2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field The present invention mainly relates to an automatic surveying device for measuring the excavation position, attitude, etc. of a shield machine (moving object) in shield tunnel construction. The self-position can be determined by automatically surveying at any time by aiming at a reference point at a known position, and then by aiming at a target part installed on a shield machine (moving object). The present invention relates to an automatic position/orientation surveying device for a moving object that can automatically measure the absolute values of its position, orientation, etc., and all such measurements are performed by remote control and fully automatic processing.

The automatic position and orientation surveying device of a moving object according to the present invention is not limited to automatic surveying of the position and orientation of a shield machine in the above-mentioned shield construction method, but can also be used to measure the position of an existing segment, an airplane approaching a runway, or a road. It can be widely used to measure the position and attitude of moving cars, ships entering ports, and other moving objects.

(Conventional technology and its problems, etc.) In order to perform shield tunnel construction with high precision and efficiency, it is necessary to accurately grasp the position, posture, and segment position of the shield machine during excavation in real time, and to plan as needed. It is important to carry out appropriate survey management and direction correction to ensure accurate excavation along the line.

Conventionally, underground surveys for shield tunnel construction have been carried out using methods such as manually determining the center line of the shield plan and the position and direction of the shield machine using transits, levels, steel tape, etc. based on reference points installed in the tunnel; It is customary to use a surveying method to determine the attitude of the shield machine (pitching angle, rolling angle, etc.) using an inclinometer installed on the shield machine.

Other methods for measuring the position and orientation of a moving object using automated equipment include a method in which a laser beam oscillated on a reference axis is received by two parallel plates separated by a certain distance, or a method using a gyro compass. The automatic surveying system used has also been developed.

Next, the automatic surveying device of the shield machine described in the specification and drawings of the previous Japanese Patent Application No. 11974/1980 is as follows:
A target consisting of three bright spots located at each vertex of a triangle is attached to the shield machine, and this is sighted by a detection section consisting of a rear TV camera and a light wave rangefinder, and the information obtained by the detection section is The data is sent to the data processing section to automatically measure the shield aircraft's position and attitude in real time and record and display the information.

Problems to be solved by the present invention () In the case of the above-mentioned manual surveying method, the surveying is not only inefficient and labor-saving, but also requires extensive experience and advanced technology. Ru. In addition, the management of surveying and shield excavation becomes complicated, and the feedback of survey results is delayed every few rings for segment rings, making it difficult to ensure construction accuracy.

() Furthermore, in the case of the above-mentioned automatic surveying systems, since each of the above-mentioned automatic surveying systems has a configuration in which a precise and relatively large detection part is installed in the shield machine, it becomes difficult to implement this as the shield diameter becomes smaller. In addition, since shield machines are located close to the excavation area in an extremely harsh environment, the precision equipment installed in them, such as the detection section and data processing section, are prone to failure and maintenance is difficult.

() Furthermore, in the case of the automatic surveying device related to the above-mentioned prior application, it is easy to measure the relative position between the shield device and the detection part, but in order to measure the absolute position of the shield device, first the detection The self-position must be accurately identified and grasped, such as the coordinate position of the part relative to the reference point. To do this, we first need to survey the location where the detection unit should be installed.
Since the detection part had to be accurately installed on the reference point, usually called a dowel, determined by the same survey, such surveying and the installation of the detection part required a great deal of effort and a high level of skill. In addition, in the case of shield construction, the surveyed reference points (dowels) and detection parts are installed on existing segments, but as these segments often shift during shield construction, it is often necessary to re-measure the reference points and detect them. It was necessary to correct the position of the part.

Furthermore, when the shield machine excavates in a curve, it is necessary to change the installation position of the detection part from time to time so that the shield machine can be precisely sighted, which makes it even more troublesome.

Means for Solving the Problems As a means for solving the problems of the prior art described above, there is provided an automatic position and orientation surveying device for a moving object according to the present invention, examples of which are shown in FIGS. 1 to 14 of the drawings. As described above, (a) Three detection bright spots 3 arranged in a roughly triangular shape.
a to 3c, a reflecting prism 4 for light wave ranging, etc., and a target part A installed on the moving object 1 to be surveyed; (b) a rangefinder goniometer 7 for collimating the target part A;
and a detection unit B, which is composed of a television camera 6 attached to the telescope 7a, etc., and is installed in the mine behind the moving object 1 at a position where the moving object 1 can be sighted; (c) for light wave ranging; At least two prisms, each consisting of a pair of reflective prisms 5a and a bright spot 5b, are installed at at least two known different positions in front or behind the detection unit B and can be collimated by the detection unit B. Reference point parts D, D, (d) Survey information of the moving object obtained by the detection part B, that is, the distance to the shield device 1, the bright spot for detection 3a ~
3c, and calculates and records and displays the position, attitude, etc. of the shield machine 1 as a positional deviation, pitching angle, yawing angle, and rolling angle with respect to the planned line of the shield machine, respectively. It was composed of C.

(e) The detection unit B is capable of horizontal rotation and vertical rotation, and is configured such that horizontal and vertical rotation can be controlled remotely.
The self-position is automatically measured by collimating the reference point part D at , and the position and orientation of the moving object 1 is automatically surveyed by collimating the target part A of the moving object 1. .

The present invention also provides that the three detection bright spots 3a to 3c constituting the target portion A are arranged on a horizontal straight line when viewed from the front, and at each vertex of an isosceles triangle or an equilateral triangle when viewed from the plane. The detecting section B is arranged at the position shown in FIG.

Function The detection unit B may be configured such that it is installed on a trolley or the like that is movable on a rail laid in advance along the moving path of the moving object 1, and thus tracks the moving object 1 and adjusts its collimation appropriately. After stopping at a certain position, first, the reference point D is sighted, and the self-position is measured and determined.

That is, the two bright spots 5b of the reference point part D are collimated with the rangefinder goniometer 7 of the detection part B, and more specifically, the operation of aligning the center of the bright spots 5b with the crosshair of the TV camera 6 is performed. Therefore, when measuring the oblique distance L, horizontal angle θ, and vertical angle to the reference point D (reflection prism 5a),
Based on this survey information, the data processing unit C calculates the own position coordinates based on the so-called backward intersection method,
and recorded and displayed. In particular, since the detection part B can remotely control the horizontal and vertical rotation necessary for collimating the reference point part D, it is easy to specify and grasp its own position coordinates as many times as necessary. ,
It is easy to reconfirm the self-position due to segment displacement, and to re-fix when the detection part B itself moves, so it is not a hassle.

Using the detection part B whose self-position has been grasped in this way, the TV camera 6 is rotated horizontally until it captures the target part A of the moving object 1, and is swung from the reference point part D to the target part A. angle (horizontal rotation angle) and distance measurement value to reflection prism 4, and
The moving object 1
The absolute position and orientation of the object can be automatically and accurately measured, recorded, and displayed.

The reason why the target section A is composed of three bright spots 3a to 3c is to enable three-dimensional surveying of the moving object 1, and in particular to enable measuring the yawing angle (FIG. 11).

Since this target section A has a simple structure consisting of three bright spots 3a to 3c such as light emitting diodes and a reflecting prism 4 for light wave distance measurement, it can withstand harsh environments. Also, since the overall size is about 5 cm square, relatively small moving objects (e.g. small diameter shield machine)
It can also be easily installed and used.

(Embodiment) Next, a preferred first embodiment of the present invention shown in FIGS. 1 to 13 of the drawings will be described.

First, FIG. 1 shows a conceptual diagram of the overall configuration when the automatic surveying device according to the present invention is implemented in shield tunnel construction.

In the figure, 1 is a shield machine that is a moving object to be surveyed.
2 is a segment installed at the rear of the shield machine 1.

In addition, in the figure, A is the target part installed inside the shield machine 1, and B is the segment 2 of the selected location behind the shield machine 1 with a good environment.
C is a data processing section, and D is a reference point section whose coordinate position is known.

The target part A has three detection bright spots 3a, 3
b and 3c form the center. These three detection bright spots 3a to 3c are each light emitting diodes (LEDs).
As shown in Figure 5, its basic arrangement is on a horizontal straight line when viewed from the front, and when viewed from the plane it is an equilateral triangle (or an isosceles triangle is also possible) with side length l. ) is located at each vertex.

This target section A includes a reflection prism 4 for light wave distance measurement, and the target section A is constructed as a whole as shown in FIG. Its overall size is said to be about 5 cm square.

Next, the detection section B includes a rangefinder and goniometer 7 for collimating the target section A, and a telescope 7a attached to the rangefinder.
It consists of a TV camera 6. Further, the range finder and goniometer 7 is configured such that horizontal rotation can be remotely controlled by a horizontal drive motor (stepping motor) 7b, and vertical rotation can be remotely controlled by a vertical drive motor (stepping motor) 7c.

This detection unit B rotates the range finder and goniometer 7 horizontally and vertically using motors 7b and 7c until the TV camera 6 captures the target part A of the shield device 1.
The coordinate positions of the three bright spots 3a to 3c captured by the TV camera 6 are output to a data processing section C, which will be described later. Further, the distance measuring section (light wave distance meter) measures the distance of the target section A to the reflecting prism 4 for light wave distance measuring, and also outputs the measured distance value to the data processing section C.

Next, the reference point section D is for allowing the detection section B to specifically grasp its own position coordinates before collimating the target section A, and is made of a reflective prism 5a for light wave ranging, a light emitting diode, etc. bright spot 5b
It consists of two pieces that are combined as shown in Figure 3.
These are installed at two different known positions that are easy to collimate with the detector B (see Figure 1). That is,
The installation position of the reference point part D may be either in front or behind the detection part B, but since it will be the origin of the position and orientation survey of the shield machine 1, it should be installed at a position that has been previously surveyed as an immovable fixed point. ing.

Therefore, when the detection part B is installed at any desired position with respect to the shield machine 1 where it can be easily sighted, the horizontality of the rangefinder goniometer 7 is first determined. After that, the two reference points D and D are respectively sighted using the rangefinder and goniometer 7, and the oblique distance L to each reference point D, the horizontal angle θ,
Detect each vertical angle φ. The collimation of each reference point part D is performed by driving motors in each direction so that the bright spot 5b of each reference point part D matches the cross line attached to the lens of the telescope 7a through the TV camera 6 attached to the telescope 7a. Steps 7b and 7c are performed by remote control to find the horizontal angle θ and vertical angle φ. Further, the distance measuring section measures the oblique distance L to the reflective prism 5a for light wave distance measuring. These measured values are each outputted to a data processing unit C, which will be described later, and the position coordinates of the rangefinder goniometer 7 are calculated, recorded, and displayed by arithmetic processing based on the backward intersection method.

Next, the data processing unit C detects the TV of the detection unit B.
A moving object measuring device 8 that processes the video signal taken by the camera 6, measures the center of gravity of each of the moving bright spots 3a to 3c every TV frame, automatically tracks the data, and outputs the data digitally; The distance to the reflecting prism 4 measured by the monitor television 9 that displays the signal as an image, and the rangefinder 7 and the center of gravity position data digitally output by the moving object position measuring device 8 is used to determine the position of the shield device 1. Personal computer 1 that calculates position and orientation
0, a CRT display (monitor section) 11 that displays the output as an image, and a disk unit 12 that records and saves the output, and is installed at a predetermined position in the mine or on the ground. Specifically, the data processing section C has a form as shown in FIG.

In short, as described above, any one of the reference point parts D is detected by the rangefinder and goniometer 7 of the detection part B, whose self-position coordinates (X, Y, Z) are grasped by collimating the reference point part D. The telescope 7a is rotated until the target part A is captured by the TV camera 6, and the horizontal and vertical swing angles from the reference point part D to the target part A are determined. Based on this, the center coordinates (X ₀ , Y ₀ , Z ₀ ) of the crosshair of the telescope 7a at the target section A are determined.

Therefore, when the X and Y reference lines on the screen of the monitor television 9 of the moving object position measuring device 8 captured by the TV camera 6 are aligned with the crosshairs of the telescope 7a, the three bright spots 3a to 3c are The coordinate positions are a (X ₁ , Y ₁ ), b (x ₂ , Y ₂ ), and c (X ₃ , Y ₃ ), respectively.
It can be found as Therefore, by inputting this coordinate position output to the personal computer 10 and performing arithmetic processing, the absolute position coordinates of the shield machine 1 can be determined.

(Concept of graphic processing and calculation processing method) In the personal computer 10, based on the distance measurement data and the X-Y coordinate data, the positional deviation and attitude of the shield machine 1 with respect to the planned line are calculated and recorded and displayed in the following manner.

Position Shift Now, on the screen of the monitor TV 9 of the moving object position measuring device 8, there are three detection bright spots 3a, 3.
Consider the case where points b and 3c are displayed as point a (X ₁ , Y ₁ ), point b (X ₂ , Y ₂ ), and point c (X ₃ , Y ₃ ) in FIG. Since the original basic arrangement of each bright spot is as shown in Fig. 6, the positional deviation (parallel deviation) of the shield device 1 with respect to the optical axis of the rangefinder goniometer 7 is as follows.
It can be determined as the coordinates (x ₁ , y ₁ ) of point a with respect to the origin (X ₀ , Y ₀ , Z ₀ ) of the X-Y reference line on the screen of the monitor television 9 .

Yawing angle The coordinate positions of the bright spots a, b, and c for detection on the screen of the monitor television 9 are converted into x-y coordinates with point a as the coordinate origin as shown in FIG. Performs graphic processing.

The shape of Δabc shown in solid line in FIG. 7 when viewed from above is Δabc shown in solid line in FIG. The straight line passing through the midpoint p of the hypotenuse in Δabc in Figure 8 is rotated until it coincides with the Z-axis, resulting in Δab ₁ c ₁ shown in the dotted line in the figure, and the rotation angle α of the straight line at this time is the distance measurement. This is understood as the yawing angle α of the shield machine 1 with respect to the optical axis of the angle gage 7.

Therefore, the yawing angle α (+ in the right direction)
To calculate , first perform coordinate transformation as follows.

x _{1 =} 0 y ₁ = ₀ x ₂ = X ₂ −X _{1 y 2} = Y ₂ − _{Y 1} x ₃ = X _{3 −} ), b(x ₂ , y ₂ ),
Based on c(x ₃ , y ₃ ), z ₂ =√ ² − ₂ ² − ₂ ² z ₃ =√ ² − ₃ ² − ₃ ² α=tan ^-1 (x ₂ +x ₃ /z ₂ +z ₃ ) It can be found by

Pitting angle Δab ₁ c ₁ shown in the dotted line in Fig. 8 above is projected as a front view in Fig _{. 7} , and the side view thereof is shown in the dotted line in Fig. 9. Δab ₁ c ₁ . Δab ₁ c ₁ in Figure 9
The straight line passing through the midpoint Q of the base _{1 1} in
What is rotated until it coincides with the axis is Δab ₂ c ₂ shown by the two-dot chain line in FIG. The rotation angle β at this time is understood as the pitching angle β of the shield machine 1.

Therefore, pitching angle β (front uphill +)
To calculate, x ₂ ′=x _{2 cosα − z 2} sinα, z ₂ ′ ₌ z ₂ cosα ₊ x _{2 sinα} Then, it can be found as β=tan ^-1 (y ₂ + y ₃ /z ₂ ′+z ₃ ′).

Rolling angle ∆ab ₂ c ₂ in Fig. 9 above is projected again as a front view on Fig. 7, resulting in the straight line shown by the two-dot chain line.
b ₂ ac ₂ . The rotation angle γ when this straight line _{2 2} is rotated to match the basic arrangement of the three detection bright spots 3a, 3b, 3c on a straight line in the horizontal direction is the angle of rotation γ of the rangefinder goniometer 7 It is understood as the rolling angle γ of the shield machine 1 with respect to the optical axis of .

Therefore, the rolling angle γ (+ clockwise rotation)
To calculate, y ₂ ″=y ₂ cosβ−z ₂ sinβ, z ₂ ″=z ₂ ′cosβ+y ₂ sinβ y ₃ ″=y ₃ cosβ−z ₃ ′sinβ, z ₃ ″=z ₃ ′cosβ+y ₃ sinβ, it can be determined by γ=sin ^-1 2y ₂ ''/l or α=sin ^-1 2y ₂ ''/l.

Note that the above positional deviation, yawing angle α, pitching angle β, and rolling angle γ are all calculated values with respect to the optical axis of the rangefinder goniometer 7. Therefore, these data are corrected by the horizontal and vertical swing angles with respect to the shield design line, thereby determining the positional deviation, yawing angle, pitching angle, and rolling angle with respect to the design line.

(Example of calculation) Figures 11 to 13 show the 10
This is a graphical representation of the results calculated based on the coordinate positions of the three detection bright spots 3a to 3c displayed on the monitor screen as shown in the figure.

The position of the detection bright spot 3a on the screen of the monitor television 9 is (-120, -80) mm, and the detection bright spot 3c
The position of the detection bright spot 3b was (-50, -40) mm, and the position of the detection bright spot 3b was (25, -55) mm.

Therefore, as explained above, the positional deviation can be understood as the reading at point a in Figure 10, so the positional deviation reading with respect to the planned line is (-50,
-40) mm (see also Figure 13).

Further, as a result of the calculation as described above, the yawing angle α is 0.779° to the right as shown in the plan view of the shield machine 1 in FIG.

As a result of calculation as described above, the pitching angle β is −8.503° in the forward downward direction, as shown in the side view of the shield machine 1 in FIG.

As a result of the above calculation, the rolling angle α is −7.261° in the left direction as shown in FIG. 13.

Therefore, the direction of the shield machine 1 can be corrected in each component direction based on the results of such arithmetic processing. The calculation results are displayed on the CRT display 11.

(Second Embodiment) The target part A installed in the shield machine 1 is installed in the segment 2 via the tunnel staff 13 as shown in FIG. Position of,
Automatic surveying can be performed in exactly the same way as attitude surveying.

In other words, it is known that segment 2 gradually shifts its position as the shield machine 1 excavates, so it is important to calculate the position of segment 2 with respect to the planned line each time it is necessary and to record and display the progress. construction management.

In FIG. 14, 20 is a bright spot for position detection, 21 is a reflecting prism, and 23 is a level.

Effects of the present invention As described above in detail in conjunction with the embodiments, the automatic surveying device for moving objects according to the present invention can fully automatically survey the position and orientation of the shield machine 1 and other moving objects. This allows for labor saving and efficiency in surveying. It is also possible to simplify surveying and excavation management.

In particular, changing the installation position of the detection unit B so that it can be easily tracked and sighted as the moving object 1 moves, or changing the position of the segment, etc. that is the installation base of the detection unit B, or changing the position of the detection unit B itself. Surveying the self-position coordinates of the detection unit B due to incorrect installation,
For confirmation, it is easy to immediately and accurately confirm and understand by aiming the detection section B against the reference point section D again and again as necessary. Moreover, this confirmation can be carried out fully automatically by remote control.

Therefore, the detection section B can always be installed at a position where it can most easily sight the moving object 1 for surveying, and its relocation is not a problem at all. Moreover, accurate surveying management of the self-position coordinates of the detection unit B allows accurate and highly accurate surveying at all times, and enables absolute positioning of the moving object 1.

Moreover, the position of a moving object, for example the shield machine 1,
The attitude etc. can be measured in real time at all times during the excavation operation of the shield machine 1, so by feeding this back to the shield machine 1, it can be quickly and easily measured.
This allows for accurate posture and direction correction, which in turn contributes to highly accurate and efficient shield construction.

Furthermore, inside the shield machine 1, which is always under a bad environment, there is only a target part A with a simple structure consisting of bright spots 3a to 3c and a reflecting prism 4, and each of them is set up in a shield machine 1 which is always under a bad environment. Since the detection part B and data processing part C are installed in segment 2 of the location or in the mine, maintenance is extremely easy when trouble occurs, and it can also be adopted in case the shield diameter becomes smaller. It is.

[Brief explanation of drawings]

Figure 1 is an explanatory diagram conceptually showing the overall configuration of the automatic surveying device of the present invention for a shield machine;
The figure is a perspective view showing the structure of the target section, FIG. 3 is a perspective view showing the structure of the reference point section, and FIG.
The figure is a perspective view showing the configuration of the data processing section, FIGS. 5 and 6 are explanatory views showing the basic arrangement of the monitor TV screen and the bright spot for detection of the moving object position measuring device, and FIGS. FIG. 9 is a front view, a plan view, and a side view showing the procedure for image processing (graphic processing) of a bright spot for detection. Figure 10 is also an example of the monitor TV screen of the moving object position measuring device, and the first
Figures 1 to 13 are examples of CRT display images that graphically display the calculation results of the yawing angle, pitching angle, and rolling angle of the shield machine based on the monitor TV screen, and Figure 14 shows a second embodiment in which the target section is shown in the segment. FIG. 3 is a front view of the installed state.

Claims (1)

[Scope of Claims] 1 (a) Comprised of three detecting bright spots 3a to 3c arranged in a substantially triangular shape and a reflective prism 4 for light wave distance measurement, installed on the moving object 1 to be surveyed. a target section A; (b) a rangefinder and goniometer 7 for collimating the target section A;
and a detection unit B, which is composed of a television camera 6 attached to the telescope 7a, etc., and is installed in the mine behind the moving object 1 at a position where the moving object 1 can be sighted; (c) for light wave ranging; At least two prisms are formed of a pair of a reflective prism 5a and a bright spot 5b, and are installed at at least two known different positions in front or behind the detection unit B and can be collimated by the detection unit B. (e) Consisting of reference point parts D, D, and (d) a data processing part C that processes the survey information obtained by the detection part B, calculates and records and displays the position, orientation, etc. of the moving object 1; The detection unit B is capable of horizontal rotation and vertical rotation, and is configured such that horizontal and vertical rotation can be remotely controlled. By collimating the reference point D with the detection unit B, the self-position can be determined. An apparatus for automatically measuring the position and orientation of a moving object, characterized in that the position and orientation of the moving object 1 are automatically measured by collimating the target part A of the moving object 1. 2. The three detection bright spots 3a to 3c forming the target part A described in claim 1 are:
An automatic position and orientation surveying device for a moving object, characterized in that it is arranged on a horizontal straight line when viewed from the front, and at each vertex of an isosceles triangle or an equilateral triangle when viewed from the plane. 3 Detection unit B described in claim 1
is an automatic position and orientation surveying device for a moving object, characterized in that the position of the moving object 1 can be arbitrarily changed according to the positional movement of the moving object 1, etc.